             parallel? (not sequential?)
             choice? (and (not parallel?) (> m-task-expansions 1))
             ;; DEBUG
-            ;; _ (println "SUBTASK primitive?" primitive?
-            ;;     "type" type
-            ;;     "plant-class" plant-class
-            ;;     "parallel?" parallel?
-            ;;     "choice?" choice?
-            ;;     "ST" (dissoc subtask :ancestry-path :task-expansions))
+            _ (println "SUBTASK primitive?" primitive?
+                "type" type
+                "plant-class" plant-class
+                "parallel?" parallel?
+                "choice?" choice?
+                "ST" (dissoc subtask :ancestry-path :task-expansions))
             ;; add in details for the plant for primitive tasks...
             ;;_ (println "plant-details" pargs subtask plant-class primitive?) ;;DEBUG
             details (plant-details ir pargs subtask plant-class primitive?)

  (let [hem (get-htn-object (first ancestry-path))
        ;; DEBUG
        _ (println "  RPC0" plant-class "METHOD" method
           "\nRPCHEM" (dissoc hem :subtasks :ancestry-path
                              :expansion-method :subtask-constraints)
           "\nhem-pclass" hem-pclass
           "pargs" pargs
           "plant-class" plant-class

                        :else
                        plant-class))
        {:keys [argument-mappings]} hem
        ;;  _ (println "  RPC1" plant-class "argument-mappings" argument-mappings) ;; DEBUG
        ;; resolve-pc (fn [arg]
        ;;              (if (and (variable? arg) (not (empty? argument-mappings)))
        ;;                (get argument-mappings arg)
        ;;                arg))
        ;; p (resolve-pc plant-class)
        ;; _ (println "  RPC2" p) ;; DEBUG
        ;; p (if (variable? p)
        ;;     (resolve-plant-class ir hem-pclass pargs p method task-type
        ;;       irks nil (nthrest ancestry-path 2))
        ;;     p)
        ;; _ (println "  RPC3" p) ;; DEBUG
        ;; ;; if method is not primitive in p then return nil to
        ;; ;; indicate this is NOT actually a primitive method
        ;; p (if (and (map? p)
        ;;         (= (:type p) :pclass-ctor)
        ;;         (get-in ir [(:pclass p) :methods method :primitive]))
        ;;     p)
        ;; FIX recursive argument resolution later
        p plant-class
        ]
    (println "RPC" plant-class "=>" p) ;; DEBUG
    p))

